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Motor Controllers

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Integrated Dual AC Traction and DC Pump Motor Controller

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The Ultimate Combi Control System: Superb Performance and Value

The Curtis Model AC F2-T integrates three separate motor controllers into a compact, rugged unit. The AC F2-T provides independent control of dual AC induction or PMAC traction motors and control of a DC hydraulic pump motor. Curtis Model AC F2-D provides a dual traction-only version without the DC Pump Control. Both models use dual, high-performance ARM Cortex microprocessors to ensure the highest possible levels of functional safety, while providing highly efficient motor control and flexible system control capabilities.

The AC F2-T and AC F2-D are perfectly suited for electric-traction aerial work platforms and mobile elevating work platforms such as scissor lifts, vertical mast lifts and articulated boom lifts. Both models are also suitable for other dual-drive electric traction applications such as 3-wheel counterbalance forklifts. Models AC F2-T and AC F2-D allow vehicle designers ability to fully define and control the detailed dynamic performance of the electric traction and hydraulic systems, and also provides comprehensive system management and CAN capabilities.

FEATURES

▶ High-efficiency, field-oriented motor control algorithms.

▶ Accurate and responsive control of DC hydraulic pump motor speed and current (AC F2-T only).

▶ Fully programmable proportional valve and load-hold valve drivers for hydraulic system control.

▶ Compact, rugged housing with very small ‘footprint’ for its power rating.

▶ Heavy-duty M6 busbars for motor and battery connectors.

▶ Sealed, 35-pin AMPseal I/O connector.

▶ Impervious to most oils, solvents, degreasers and other chemicals often encountered by industrial vehicles.

▶ IP65 / IP67 environmental protection as per IEC 60529.

▶ Exceeds latest global conformance requirements for functional safety, electrical safety and EMC.

▶ CE marked as a programmable safety device.

▶ UL583 Pending.

Motors

▶ Two separate 3-phase bridges provide highly efficient, fully independent control of dual AC induction and/or PMAC motors (dependent on installed software).

▶ Improved motor auto-characterization setup allows simple on-truck pairing with different Induction motor types.

▶ Comprehensive library of AC motor types stored in controller memory.

▶ Half-bridge DC pump output provides efficient control of DC series or compound hydraulic motors (AC F2-T only).

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FEATURES continued

Get More Out of Your Battery— Regardless of the Technology

▶ High-efficiency means more of your battery’s energy is converted to motor output power.

▶ Fully configurable over- and under-voltage protection parameters.

▶ Wide operating voltage range allows use with the latest cell chemistries such as lithium ion.

▶ Configurable CANbus and VCL allow easy integration with the BMS (Battery Management Systems) typically found on lithium battery packs.

Powerful, High Performance Dual Microprocessors

▶ The controllers can be operated as a dual system that combines two controllers in a single package, or as two independent controllers. Each system consists of dual-micro architecture and each achieves up to PL=D, category 2 functional safety under EN ISO 13849-1 / EN1175-1:1998+A1:2010.

▶ Ultra-fast processor speeds allow highly accurate control and regulation of voltage, frequency and current.

▶ EN280 compliant.

▶ Hardware ‘ready’ for the forthcoming EN1175:2020.

Customize Your Vehicle with VCL

▶ The Curtis VCL (Vehicle Control Language) allows Curtis AC motor controllers to perform as the role of manager, eliminating the need for costly, additional system controllers.

Highly Flexible I/O

▶ All I/O pins are multi-function, and can be configured to provide up to:

– 3 digital inputs

– 9 analog inputs

– 8 output drivers

– 2 motor temperature sensors

– 2 quadrature encoder inputs

– 2 Sine/Cosine position inputs

– +5V and +12V external power (200mA)

Inertial Measurement Unit (IMU)

▶ Six-Axis IMU for measurement of orientation, movement and impact detection (optional).

Comprehensive CAN Capabilities

▶ Fully compliant with CANopen protocol CiA 301.

▶ Compatible with SAE J1939 and other 29-bit CANbus protocols (with appropriate VCL application software).

▶ Models available with or without an integrated CAN termination resistor.

Improved Diagnostics

▶ Integrated, high visibility status LED with simplified flash code sequence for at-a-glance system troubleshooting.

▶ Thermal cutback, warning, and automatic shutdown provide protection to motor and controller.

▶ Error logging and fault history tables with CAN Emergency Messages.

CAN-based Programming

▶ Models AC F2-T and AC F2-D are programmable over the CANbus. This allows simple ‘vehicle level’ communication with many of the CAN-based service tools used by the major industrial truck manufacturers worldwide.

▶ Allows use of the Curtis Integrated Toolkit.

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SYSTEM ACCESSORIES

Curtis Model 3141 A cost-effective, CAN-based LCD vehicle status display in a rugged 52mm diameter housing is the ideal partner to both AC F2-T and AC F2-D controllers.

▶ Large, easy-to-read 16-segment format LCD.

▶ Battery Discharge Indicator, Service (Hours) Counter and Diagnostic/Message Center functions.

▶ Sealed to IP65 (IP67 optional).

▶ 12–48V nominal operating voltage range.

▶ CE compliant, UL583 recognized component.

▶ Optional backlight and heater.

The Curtis Integrated Toolkit A fully integrated suite of development and diagnostic tools for use on CAN systems using Curtis and other 3rd party CAN-based products. It is comprised of the following tools that run in a shared environment:

▶ Launchpad Starting point and project editor.

▶ Programmer Used to configure parameters, view monitor values, and view active faults and the fault history.

▶ TACT Improved version of the stand-alone oscilloscope/datalogging tool.

▶ VCL Studio Editor and compiler for VCL software.

▶ Menu Editor Tool to create and modify programming menus.

▶ Package & Flash Downloader tool to load your software into the CAN device.

The Curtis Integrated Toolkit is compatible with many leading USB>CAN interface dongles from Peak, Kvaser, iFAC, Sontheim, etc. Contact your local Curtis Sales office for further information.

MODEL CHARTAC F2-T

Model Number Nominal Battery Voltage

Traction Max Current [S2-2 min]

Traction Max Current [S2-60 min]

Pump MaxCurrent

AC F2-T 24-120-240 24V 2x 120Arms 2x 48Arms 240A

AC F2-T 24-200-280 24V 2x 200Arms 2x 80Arms 280A

AC F2-T 48-120-240 48V 2x 120Arms 2x 48Arms 240A

AC F2-T 48-240-240 48V 2x 240Arms 2x 94Arms 240A

AC F2-D

Model Number Nominal Battery Voltage

Traction Max Current [S2-2 min]

Traction Max Current [S2-60 min]

Pump MaxCurrent

AC F2-D 24-120 24V 2x 120Arms 2x 48Arms N/A

AC F2-D 24-200 24V 2x 200Arms 2x 80Arms N/A

AC F2-D 48-120 48V 2x 120Arms 2x 48Arms N/A

AC F2-D 48-240 48V 2x 240Arms 2x 94Arms N/A

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DIMENSIONS

9X M6X1.0 - 6H 18 MIN

2X Ø7.5

7.0

7.0

192.0 206.0

136.0 150.0

2X

STATUSLED

70.2

13.0

68.9

Ø7.0

(Pump Busbar not present in the AC F2-D model)

AC F2-T and AC F2-D

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CONNECTOR WIRING

E StopPole A

Battery

B−

Fuse

M2 EncC

+12V / Input 14

Safety Disabled and

Reverse Polarity Protected

Loads

External (device)Power Supply

M1 EncC

Input 6

Input 1

Input 13

Input 18

Input 15

Input 9

Input 7

Input 12

Input 5

Input 8

Input 10

GND

Alternate Operator Controls / Operator Controls

E StopPole B

Key-Switch

2

(M1) Driver 3

(M1) Driver 5

(M1) Driver 6

(M1) Driver 1PV

AC Motor

GND

Speed/PositionSensor

GND

M2 Motor TempMotor Temp

Sensor

M2 EncA/Sin

M2 EncB/Cos

+5V

5VA/SinB/CosGND 7

7

2610

11

21

16

14

25

17

24

9

22

27

28

29

15

34

18

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

1Key Switch

EM Brake 14

13

19 Load

Main Coil6

Coil Supply

EM Brake 25Lift/Hold3

Load30

(M2) Input 24/Driver 4

(M2) Driver 7

(M2) Input 22/Driver 2

(M2) Driver 6

Load20

1233

UVW

AC Motor

GND

Speed/PositionSensor

GND

M1 Motor TempMotor Temp

Sensor

M1 EncA/Sin

M1 EncB/Cos

+5V

5VA/SinB/CosGND 7

7

2631

32

8

E-StopThrottle

LeftRightUp

Down

CAN PORT

CAN1 H

CAN1 L

23

35

INTERNAL 120 ΩTERMINATION ONMODELS -x01 *

M2M1

B+

PUMP

DCPUMP

MOTOR

FuseMAIN EMERGENCY STOP

UVW

AC F2-T

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CONNECTOR WIRING

PINOUT CHART

E StopPole A

Battery

B−

Fuse

M2 EncC

+12V / Input 14

Safety Disabled and

Reverse Polarity Protected

Loads

External (device)Power Supply

M1 EncC

Input 6

Input 1

Input 13

Input 18

Input 15

Input 9

Input 7

Input 12

Input 5

Input 8

Input 10

GND

Alternate Operator Controls / Operator Controls

E StopPole B

Key-Switch

2

(M1) Driver 3

(M1) Driver 5

(M1) Driver 6

(M1) Driver 1PV

AC Motor

GND

Speed/PositionSensor

GND

M2 Motor TempMotor Temp

Sensor

M2 EncA/Sin

M2 EncB/Cos

+5V

5VA/SinB/CosGND 7

7

2610

11

21

16

14

25

17

24

9

22

27

28

29

15

34

18

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

Switch

1Key Switch

EM Brake 14

13

19 Load

Main Coil6

Coil Supply

EM Brake 25Lift/Hold3

Load30

(M2) Input 24/Driver 4

(M2) Driver 7

(M2) Input 22/Driver 2

(M2) Driver 6

Load20

1233

UVW

AC Motor

GND

Speed/PositionSensor

GND

M1 Motor TempMotor Temp

Sensor

M1 EncA/Sin

M1 EncB/Cos

+5V

5VA/SinB/CosGND 7

7

2631

32

8

E-StopThrottle

LeftRightUp

Down

CAN PORT

CAN1 H

CAN1 L

23

35

INTERNAL 120 ΩTERMINATION ONMODELS -x01 *

M2M1

B+FuseMAIN

UVW

EMERGENCY STOP

AC F2-D

AC F2-T and AC F2-D

35 34 33 32 31 30 29 28 27 26 25 24

12 11 10 9 8 7 6 5 4 3 2 1

23 22 21 20 19 18 17 16 15 14 13

CAN L

INPUT 12

CAN H

EncC(M1)

EncB(M1)

EncA(M1)

DRIVER 6(M2)

INPUT 10

INPUT 8

INPUT 18

+5V

INPUT 14+12V

INPUT 9

KSI

DRIVER 1(M1)

DRIVER 4(M2)

DRIVER 3(M1)

DRIVER 2(M2)

DRIVER 5(M1)

GND

TEMP(M1)

INPUT 5

EncA(M2)

EncB(M2)

EncC(M2)

INPUT 7

TEMP(M2)

DRIVER 7(M2)

DRIVER 6(M1)

GND

INPUT 15

INPUT 1

INPUT 6

INPUT 13

COILSUPPLY

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SPECIFICATIONS

Specifications subject to change without notice 50356 REV A 10/20©2020 Curtis Instruments, Inc. is a trademark of Curtis Instruments, Inc.

WARRANTY Two year limited warranty from time of delivery.

Nominal Input Voltage 24V 36V/48V

Undervoltage 12V 18V

Overvoltage 30V 63V

Traction PWM Frequency 10kHz

Pump PWM Frequency 18kHz

Maximum Controller Output Frequency 800Hz

Electrical Isolation to Heatsink 500Vac

Storage Ambient Temperature –40°C to 95°C

Operating Ambient Temperature –40°C to 50°C

Traction Thermal CutbackController linearly reduces maximum current limit with an internal heatsink

temperature from 85°C (185°F) to 95°C (203°F); complete cutoff occurs above 95°C (203°F) and below –40°C (–40°F).

Design Life 8000 hours

Package Environmental Rating IP65/IP67

Weight 1.5kg (3.3lbs)

Dimensions W x L x H 206mm x 150mm x 70mm

EMC Designed to the requirements of EN 12895:2015

Safety Designed to the requirements of EN1175-1:1998+A1: 2010, EN ISO 13849-1:2015 and EN280

UL UL583 Pending